Named Commands

src/main/java/frc/robot/RobotContainer.java

@@ -4,7 +4,12 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -24,8 +29,10 @@ import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
+  
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(0);
+  private final SendableChooser<Command> autoChooser;
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -34,6 +41,13 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
+    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+    NamedCommands.registerCommand("L4", new L4(elevateur, pince));
+    NamedCommands.registerCommand("L3", new L3(elevateur, pince));
+    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
+    NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
+    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
+    autoChooser = AutoBuilder.buildAutoChooser();
   }
 
   private void configureBindings() {

src/main/java/frc/robot/command/CoralExpire.java

@@ -24,7 +24,7 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pince.aspirecoral(.5);
+    pince.aspirecoral(-.5);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/command/StationPince.java

@@ -10,6 +10,7 @@ import frc.robot.subsystems.Pince;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class StationPince extends Command {
+  
   private Pince pince;
   private Elevateur elevateur;
   /** Creates a new L2Pince. */